Much of the existing governance tooling, particularly registry-based governance, involves a model of key artifact lifecycles and provides control points for policy and decision rights enforcement.
许多现有的治理工具，特别是基于注册的治理，包含关键工件的生命周期的模型，并且为政策和决策权的施行提供控制点。
Gateway form using decision, fork, merge, and joins is often more readable for models that only model control flow.
网关形式使用decision、fork、merge和join元素，对于只包含控制流的模型而言，此形式通常更易于理解。
On the basis of building forward looking sonar view model and artificial potential model, decision control of AUV is made, objects are searched through grads approach, a collision free path is planed.
在建立前视声呐视域模型和人工势场模型的基础上，对AUV进行决策控制，通过梯度逼近法对目标进行搜索，快速规划出一条无碰撞的路径。
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